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| author | Shlomo Hecht <shlomo@twine-s.com> | 2018-08-07 09:46:39 +0300 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2018-08-07 09:46:39 +0300 |
| commit | 12642bc555c2fadbbe501b642ad0272abb6d8ee4 (patch) | |
| tree | f393b4837c6e62a81a7d98343e693dec480adf1a /Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c | |
| parent | 89e5ab941a12f5720d03013ed0c0645161857140 (diff) | |
| download | Tango-12642bc555c2fadbbe501b642ad0272abb6d8ee4.tar.gz Tango-12642bc555c2fadbbe501b642ad0272abb6d8ee4.zip | |
fix jogging directions
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c | 32 |
1 files changed, 21 insertions, 11 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index b536c93b0..c3b58625f 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -20,7 +20,8 @@ #include "StateMachines/Printing/PrintingSTM.h" #include "drivers/Motors/Motor.h" -#include "drivers/Danser_SSI/ssi_comm.h" +//#include "drivers/SSI_Comm/ssi_comm.h" +#include "drivers/SSI_Comm/Dancer/Dancer.h" #include "drivers/Heater/TemperatureSensor.h" #include "drivers/Heater/Heater.h" #include "drivers/Motors/Motor.h" @@ -353,16 +354,21 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) avreageSampleValue += MotorSamples[index][i]; avreageSampleValue = avreageSampleValue / MotorsControl[index].pvinputfilterfactormode; - if (index == POOLER_MOTOR) + if (BreakSensorenabled == true) { - if (JobCounter > eOneSecond) + if (index == POOLER_MOTOR) { - if (ReadBreakSensor()==ERROR) + if (JobCounter > eOneSecond) { - //LOG_ERROR(index, "ReadBreakSensor Error"); - JobEndReason = JOB_THREAD_BREAK; - //SendJobProgress(0.0,0,false, "ReadBreakSensor Error"); - EndState(CurrentJob,"ReadBreakSensor Error" ); + if (ReadBreakSensor()==ERROR) + { + //consider applying the debouce parameters later + //BreakSensordebouncetimemilli + //LOG_ERROR(index, "ReadBreakSensor Error"); + JobEndReason = JOB_THREAD_BREAK; + //SendJobProgress(0.0,0,false, "ReadBreakSensor Error"); + EndState(CurrentJob,"ReadBreakSensor Error" ); + } } } } @@ -415,6 +421,10 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) } //******************************************************************************************************************** +uint32_t ThreadGetMotorSpeed(threadMotorsEnum MotorId) +{ + return CurrentControlledSpeed[MotorId]; +} //******************************************************************************************************************** uint32_t ThreadInitialTestStub(HardwareMotor * request) @@ -561,17 +571,17 @@ uint32_t ThreadPreSegmentState(void *JobDetails) //MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RDRIVING, OriginalMotorSpd_2PPS[FEEDER_MOTOR]); //#warning rocker disabled - if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].maxfrequency) + if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].maxfrequency > 0) { MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_RLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize); MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 2); } - if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].maxfrequency) + if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].maxfrequency > 0) { MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_LLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize); MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 2); } -//#warning rocker disabled + //#warning rocker disabled // MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize, 0, GPI_LS_RLOADMOTOR_UP, EndState); //TODO |